In one embodiment, a system/method generates a driving trajectory for an autonomous driving vehicle (ADV). The system perceives an environment of an autonomous driving vehicle (ADV). The system determines one or more bounding conditions based on the perceived environment. The system generates a first trajectory using a neural network model, wherein the neural network model is trained to generate a driving trajectory. The system evaluates/determines if the first trajectory satisfies the one or more bounding conditions. If the first trajectory satisfies the one or more bounding conditions, the system controls the ADV autonomously according to the first trajectory. Otherwise, the system controls the ADV autonomously according to a second trajectory, where the second trajectory is generated based on an objective function, where the objective function is determined based on at least the one or more bounding conditions.
HYBRID PLANNING SYSTEM FOR AUTONOMOUS VEHICLES
2022-03-17
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |